| The icing of Transmission line is one of the most serious natural disasters in power system. The main deicing measure by artificial is very popular in china. This way is not merely with great labor intensity, high costs, bad security and low production efficiency. It is very urgent to find a new way to alternate manual deicing. The deicing robot can eliminate transmission line ice, reduce labor degree and improve production efficiency.This article has discussed the mechanical structure of deicing robot and principle for deicing. Then the working mode and process of action was analyzed. This article has mainly discussed the composition of control system for deicing robot. The control system model which is based on hierarchical control system structure and expert control system has given in this paper. The principle for the hardware which has implemented in the proposed de-icing program and the software programming which has been processed by experiments have demonstrated that the control system is feasibility and reliability.In the hardware part of the paper, the design of PC+IPC+PMAC for control system has been done integrally. The principles for function have been introduced and the components of the hardware have been tested. Aiming at the Software part of the control system, the functions have been introduced. This paper has summed up the overall structure of control software. The design of each software module and how to build an expert control system have been discussed.It has a summary and analysis about the experiments for the control system of deicing robot. This article has been summarized the improvement for current control system. This article has been predicated to provide reference data for the study of future deicing robot. |
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